航天器空间曲线焊缝VPPA自动化焊接装备开发和应用

Development and application of automatic VPPA welding equipment to space curve weld of spacecraft

为研制满足空间曲线焊缝的VPPA穿孔立焊的自动化焊接装备,采用大负载高精度的2自由度转台变位机,高精度的三维直线导轨以及6自由度焊接机器人,组成多轴联动的焊接机器人系统。通过对6自由度关节机械臂、双自由度转台变位机系统以及三维移动装置的集成,提出一种机器回路控制与人在回路控制并存的空间曲线焊缝焊接系统的宏微控制策略,实现对焊枪与焊缝相对位置的实时控制,使VPPA焊枪与焊缝的相对位置在空间曲线焊缝焊接过程中,始终处于垂直立向上的关系,实现穿孔立向上焊接。在大型铝合金密封舱体焊接生产中实现应用,替代进口,填补中国空白,意义重大。

To develop automatic VPPA perforated vertical welding equipment for the space curve weld,positioner with large load,high precision and 2 degrees of freedom,three dimensional linear guide with high precision and welding robot with six degrees of freedom were adopted to constitute multi-axis linkage welding robot system. Through integration of robot arm with six degrees of freedom,positioner with 2 degrees of freedom and three dimensional mobile device,a macro-micro control strategy of space curve weld welding system under the circuit control of machine and human was put forward to realize the real-time control of the relative position of welding gun and weld by making the relative position of VPPA welding gun and weld be always vertical upward to achieve perforation vertical upward welding in the welding process of space curve weld. It is of great significance to realize the application to the welding production of large aluminum alloy seals,which can realize the direct import substitution and fill the blank in China.